I just had to configure Ubuntu 19.10 with HP envy 4520. I had no issues with 18.04, 18.10, and 19.04, as it used to auto-discover both the printer and the scanner over Wi-Fi with no human intervention. However, in 19.10 I had to do it manually.
To add the printer, in Applications, go to Printers and click Add. This should automatically find the printer and add it to the list. You can double check by printing a document. Adding a scanner is a little trickier.
To add the scanner, based on HpAllInOne, I had to run sudo hp-setup. If you get error: hp-setup requires GUI support, you need to run sudo apt-get install python3-pyqt5. Retry sudo hp-setup, and it should open a GUI window1. From there, it wouldn't auto-detect the scanner over Wi-Fi, as it couldn't find any scanners. So, click Back and on the start page, click Advanced. Enter your printer's IP2 and confirm. Now if you go back to Printers utility, you should see your scanner there.
1If that didn't work, refer to the link above. You may need to install python3-pyqt4.
2You can find the IP in at least two ways: (1) if your printer is already detected, go to Printers, click the gear icon, then Printer Details, and you'll see the Address there; (2) in your printer's interface, go to network settings and look for the IP address. It goes without saying, but you should be connected to the same Wi-Fi network!
Best Answer
Unfortunately, Dell doesn't provide their own Ubuntu drivers for their printers, all those drivers are for various versions of Windows. The printer should however run fine in Ubuntu without the drivers.
Using Printers with Ubuntu
In the application System Settings (by default in the dock) there is a section called "Printing".
Alternatively, you can access it via the System Menu:
From that tool you can add and manage your printers.
Once you have a printer added you can manage it by right-clicking on it and choosing "Properties"
From here you can see, edit and control various aspects of your printer like status, name and ink levels (if supported).